#include "imgwarp_mls_rigid.h"

ImgWarp_MLS_Rigid::ImgWarp_MLS_Rigid()
{
    preScale = false;
}

double calcArea(const vector< Point_<double> > &V){
    Point_<double> lt, rb;
    lt.x = lt.y = 1e10;
    rb.x = rb.y = -1e10;
    for (vector< Point_<double> >::const_iterator i = V.begin();
            i!=V.end(); i++){
        if (i->x < lt.x) lt.x = i->x;
        if (i->x > rb.x) rb.x = i->x;
        if (i->y < lt.y) lt.y = i->y;
        if (i->y > rb.y) rb.y = i->y;
    }
    return (rb.x-lt.x)*(rb.y-lt.y);
}

void ImgWarp_MLS_Rigid::calcDelta(){
    int i, j, k;

    Point_< double > swq, qstar, newP, tmpP;
    double sw;
    
    double ratio;

    if (preScale){
        ratio = sqrt(calcArea(newDotL) / calcArea(oldDotL));
        for (i=0; i<nPoint; i++)
            newDotL[i] *= 1/ratio;
    }

    double *w=new double[nPoint];

    rDx.create(tarH, tarW);
    rDy.create(tarH, tarW);

	if (nPoint < 2){
		rDx.setTo(0);
		rDy.setTo(0);
		return;
	}
    Point_< double > swp, pstar, curV, curVJ, Pi, PiJ, Qi;
    double miu_r;

    for (i = 0; ; i+=gridSize){
        if (i>=tarW && i<tarW+gridSize - 1)
            i=tarW-1;
        else if (i>=tarW)
            break;
        for (j = 0; ; j+=gridSize){
            if (j>=tarH && j<tarH+gridSize - 1)
                j = tarH - 1;
            else if (j>=tarH)
                break;
            sw = 0;
            swp.x = swp.y = 0;
            swq.x = swq.y = 0;
            newP.x = newP.y = 0;
            curV.x = i;
            curV.y = j;
            for (k = 0; k < nPoint; k++){
                if ((i==oldDotL[k].x) && j==oldDotL[k].y)
                    break;
                if (alpha==1)
                    w[k] = 1/((i-oldDotL[k].x)*(i-oldDotL[k].x)+
                        (j-oldDotL[k].y)*(j-oldDotL[k].y));
                else
                    w[k] = pow((i-oldDotL[k].x)*(i-oldDotL[k].x)+
                        (j-oldDotL[k].y)*(j-oldDotL[k].y), -alpha);
                sw = sw + w[k];
                swp = swp + w[k] * oldDotL[k];
                swq = swq + w[k] * newDotL[k];
            }
            if ( k == nPoint ) {
                pstar = (1 / sw) * swp ;
                qstar = 1/sw * swq;
    //            qDebug("pstar: (%f, %f)", pstar[0], pstar[1]);

                // Calc miu_r
                //miu_s = 0;
                double s1=0, s2=0;
                for (k = 0; k < nPoint; k++){
                    if (i==oldDotL[k].x && j==oldDotL[k].y)
                        continue;

                    Pi = oldDotL[k] - pstar;
                    PiJ.x = -Pi.y, PiJ.y = Pi.x;
                    Qi = newDotL[k] - qstar;
                    s1 += w[k] * Qi.dot(Pi);
                    s2 += w[k] * Qi.dot(PiJ);
                }
                miu_r = sqrt(s1*s1 + s2*s2);

                curV -= pstar;
                curVJ.x = -curV.y, curVJ.y = curV.x;

                for (k = 0; k < nPoint; k++){
                    if (i==oldDotL[k].x && j==oldDotL[k].y)
                        continue;

                    Pi = oldDotL[k] - pstar;
                    PiJ.x = -Pi.y, PiJ.y = Pi.x;

                    tmpP.x = Pi.dot(curV) * newDotL[k].x
                             - PiJ.dot(curV) * newDotL[k].y;
                    tmpP.y = -Pi.dot(curVJ) * newDotL[k].x
                             + PiJ.dot(curVJ) * newDotL[k].y;
                    tmpP *= w[k]/miu_r;
                    newP += tmpP;
                }
                newP += qstar;
            }
            else {
                newP = newDotL[k];
            }

            if (preScale){
                rDx(j, i) = newP.x * ratio - i;
                rDy(j, i) = newP.y * ratio - j;
            }
            else {
                rDx(j, i) = newP.x - i;
                rDy(j, i) = newP.y - j;
            }
        }
    }
    delete [] w;
    
    if (preScale){
        for (i=0; i<nPoint; i++)
            newDotL[i] *= ratio;
    }
    
//    qDebug("Calc OK");
    // cout<<rDx<<endl;
}
